CN113829649B - Mechanical arm end effector device for Z-pin automatic implantation of curved surface - Google Patents
Mechanical arm end effector device for Z-pin automatic implantation of curved surface Download PDFInfo
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- CN113829649B CN113829649B CN202110592687.2A CN202110592687A CN113829649B CN 113829649 B CN113829649 B CN 113829649B CN 202110592687 A CN202110592687 A CN 202110592687A CN 113829649 B CN113829649 B CN 113829649B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/88—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts characterised primarily by possessing specific properties, e.g. electrically conductive or locally reinforced
- B29C70/887—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts characterised primarily by possessing specific properties, e.g. electrically conductive or locally reinforced locally reinforced, e.g. by fillers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/30—Shaping by lay-up, i.e. applying fibres, tape or broadsheet on a mould, former or core; Shaping by spray-up, i.e. spraying of fibres on a mould, former or core
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C70/00—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts
- B29C70/04—Shaping composites, i.e. plastics material comprising reinforcements, fillers or preformed parts, e.g. inserts comprising reinforcements only, e.g. self-reinforcing plastics
- B29C70/28—Shaping operations therefor
- B29C70/54—Component parts, details or accessories; Auxiliary operations, e.g. feeding or storage of prepregs or SMC after impregnation or during ageing
- B29C70/545—Perforating, cutting or machining during or after moulding
Abstract
The invention discloses a mechanical arm end effector device for Z-pin automatic implantation of a curved surface, which comprises: the hole making device comprises a hole making base and a hole making needle arranged below the hole making base; the wire feeding device comprises a wire feeding base and a guide pipe arranged on the wire feeding base, and the wire feeding base is detachably connected to the hole making base; the guide tube is used for Z-pin wire materials to pass through, the guide tube is positioned beside the hole making needle in parallel at intervals, and the height difference is formed between the outlet of the guide tube and the tip of the hole making needle; the wire feeding base is provided with a wire leading-in mechanism for conveying wires to the guide pipe; the cutting device comprises pneumatic scissors which are detachably connected to the hole making base or the wire feeding base; the cutting position of the pneumatic scissors is positioned at the outlet of the guide pipe, and the pneumatic scissors are used for cutting Z-pin wires so as to meet the requirement of planting Z-pins on the complex curved surface member.
Description
Technical Field
The invention belongs to the technical field of composite material Z-pin automatic implantation mechanical arm end effector equipment, and particularly relates to a mechanical arm end effector device for Z-pin automatic implantation of a curved surface.
Background
Due to the lack of reinforcing fibers in the Z-direction of the composite laminates, delamination and failure are highly likely to occur when the composite laminates are subjected to a force in the Z-direction. At present, the Z-pin toughening technology is widely applied in engineering. The composite material is developed by a sewing technology, before the composite material laminated plate is cured, Z-pins are implanted in the Z direction, and after the composite material is cured, the Z-pins nail all layers of the composite structure together, so that the Z-direction strength and the rigidity of the composite material are greatly improved. At present, in engineering application, a prefabricated hole implantation process method is mostly adopted to realize Z-pin implantation, the method can reduce initial damage in a laminated plate, but most of the methods adopt manual implantation, time and labor are wasted, the implantation efficiency is low, the implantation precision is low, particularly for a complex curved surface component, the thickness of the complex curved surface component is continuously changed, and the precision requirement is difficult to meet through manual Z-pin implantation.
Disclosure of Invention
The invention aims to provide a manipulator arm end effector device for Z-pin automatic implantation of a curved surface, so as to meet the requirement of Z-pin implantation of a complex curved surface component.
The invention adopts the following technical scheme: a robotic end effector device for automated Z-pin implantation of curved surfaces, comprising:
the hole making device comprises a hole making base and a hole making needle arranged below the hole making base;
the wire feeding device comprises a wire feeding base and a guide pipe arranged on the wire feeding base, and the wire feeding base is detachably connected to the hole making base; the guide pipe is used for allowing Z-pin wires to pass through, the guide pipe is parallel to and spaced beside the hole making needle, a height difference is formed between the outlet of the guide pipe and the tip of the hole making needle, and the hole making needle is closer to the laminated plate to be implanted than the guide pipe; the wire feeding base is provided with a wire leading-in mechanism for conveying wires to the guide pipe from top to bottom;
the cutting device comprises pneumatic scissors which are detachably connected to the hole making base or the wire feeding base; the cutting position of the pneumatic scissors is positioned at the outlet of the guide pipe, and the pneumatic scissors are used for cutting the Z-pin wire;
the hole making base or the wire feeding base is used for being connected to a mechanical arm and used for controlling a hole making needle to make a hole along the normal direction of the surface of the curved-surface laminated board through the lifting and the rotation of the mechanical arm, and meanwhile, the guide pipe moves downwards along with the hole making needle synchronously to enable the cut Z-pin wire to enter the hole made by the hole making needle at the last time; and the hole making depth is equal to the height difference between the tip of the hole making needle and the cutting position of the pneumatic scissors.
Furthermore, the hole making needle is connected to the hole making base through a height adjusting mechanism, and the height adjusting mechanism is used for adjusting the distance between the tip of the hole making needle and the outlet of the catheter so as to adjust the hole making depth.
Further, the height adjusting mechanism comprises a first servo motor, the first servo motor is connected with a screw rod, a flange plate is sleeved on the screw rod and fixedly connected with a connecting frame, the bottom of the connecting frame is connected with a hole making needle, and the flange plate is also arranged on a slide block guide rail mechanism;
the first servo motor is used for driving the flange plate to reciprocate on the sliding block guide rail mechanism along the screw rod through the work of the first servo motor, so that the connecting frame and the hole making needle can lift relative to the screw rod, and the height position of the hole making needle can be adjusted.
Further, the wire leading-in mechanism comprises a driving roller and a driven roller which are arranged on two sides of the guide pipe, and the driving roller is connected with a second servo motor through a gear; the tube of the guide tube between the driving roller and the driven roller is disconnected, so that the driving roller and the driven roller are both contacted with the Z-pin wire to drive the Z-pin wire to travel in the guide tube through friction.
Furthermore, two driving rollers and two driven rollers are arranged along the axial direction of the guide pipe, two gears are respectively and coaxially connected with the two driving rollers, and a gear connected with a second servo motor is further arranged between the two gears.
Furthermore, a compression spring is arranged between each driven roller and the wire feeding base.
Furthermore, the device comprises a mechanical arm with six degrees of freedom, and the mechanical arm is connected and arranged on the hole making base or the wire feeding base.
The invention adopts a second technical scheme that the working method of the mechanical arm end effector device for the Z-pin automatic implantation of the curved surface comprises the following steps:
adjusting the height difference between the cutting positions of the hole making needle and the pneumatic scissors to be equal to the preset implantation depth, and fixing the positions of the hole making needle and the pneumatic scissors; setting the lifting distance of the hole making base or the wire feeding base following the action of the mechanical arm to be equal to the vertical distance from the cutting position of the pneumatic scissors to the surface of the curved-surface laminated board;
normally drilling holes at a first position on the surface of the curved laminate;
and moving to a second position on the surface of the curved laminate plate, and continuing to perform normal hole making, wherein the Z-pin wire is cut at the outlet of the guide pipe by the pneumatic scissors while the hole is made, and the cut Z-pin wire is implanted into the hole made at the first position.
The invention has the beneficial effects that: the device realizes the automatic implantation of the Z-pin and improves the production efficiency; the process of simultaneously drilling and planting the pin is adopted, so that the Z-pin planting efficiency is improved; two groups of driving and driven roller transmission mechanisms are adopted, the transmission effect is good, and the Z-pin wire cannot slip; the lifting of the hole making device can meet the requirements of different hole making depths and is suitable for laminated plates with different thicknesses; the whole device is small in size and convenient to operate, is used as an end effector and is arranged on a mechanical arm with six degrees of freedom, and is suitable for Z-pin normal implantation of a complex curved surface component; the pneumatic scissors cut the pin wires on the surface of the laminated plate, so that the cutting effect is good; the depth of the manufactured hole is adjustable, and the method is suitable for implanting pins which can be applied to complex curved surface components in different depths.
Drawings
FIG. 1 is a general block diagram of a robotic arm end effector assembly for automated Z-pin implantation of curved surfaces in accordance with the present invention;
FIG. 2 is a block diagram of a hole making device of a robotic arm end effector assembly for automated Z-pin implantation of curved surfaces in accordance with the present invention;
FIG. 3 is a structural diagram of a wire feeder of a robotic arm end effector assembly for automated Z-pin implantation of curved surfaces in accordance with the present invention;
fig. 4 is a block diagram of the master and slave rollers of a robotic end effector assembly for automated implantation of Z-pins into curved surfaces in accordance with the present invention;
FIG. 5 is a block diagram of a cutting mechanism of a robotic arm end effector assembly for Z-pin automated implantation of curved surfaces in accordance with the present invention;
FIG. 6 is a block diagram of the device base plate of a robotic arm end effector device for Z-pin automated implantation of curved surfaces in accordance with the present invention;
FIG. 7 is a driven roller bearing carriage configuration of a robotic arm end effector assembly for automated Z-pin implantation of curved surfaces in accordance with the present invention;
FIG. 8 is a view of the catheter mount configuration of a robotic arm end effector assembly for Z-pin automated implantation of curved surfaces in accordance with the present invention;
fig. 9 is a schematic diagram of a complex curved surface component to be implanted of a robotic arm end effector apparatus for Z-pin automated implantation of curved surfaces of the present invention.
The automatic punching machine comprises a first servo motor 1, a coupler 2, a needle fixing frame 3, a screw rod fixing end 4, a screw rod 5, a guide rail 6, a sliding block 7, a flange fixing frame 8, a flange plate 9, a connecting frame 10, a hole forming needle fixing frame 11, a hole forming needle pressing sleeve 12, a hole forming needle 13, a hole forming needle 14, a bottom plate connecting frame 15, a device bottom plate 16, a second servo motor 17, a flange coupler 17, a gear 18, a driving roller 19, a driven roller 20, a driving roller bearing frame 21, a driven roller bearing frame 22, a driven roller bearing frame 23, a pressing spring 24, a driven roller bearing frame fixing frame 25, a guide pipe fixing frame 26, a guide pipe 27, a driven roller bearing frame baffle 28, a bearing 29, a fixing frame 30, pneumatic scissors 31, a complex curved surface component 31
Detailed Description
The invention is described in detail below with reference to the drawings and the detailed description.
The invention provides a mechanical arm end effector device for Z-pin automatic implantation of a curved surface, which comprises a hole making device, a wire feeding device and a cutting device as shown in figure 1.
As shown in fig. 2, the hole forming device includes a hole forming base and a hole forming needle 13 installed therebelow. As shown in fig. 3 and 4, the wire feeder includes a wire feed base and a conduit 26 mounted thereon, the wire feed base being removably coupled to the punch base; the guide tube 26 is used for Z-pin wire to pass through, the guide tube 26 is parallel and spaced beside the hole making needle 13, and the outlet of the guide tube 26 and the tip of the hole making needle 13 have a height difference, namely the outlet of the hole making needle 13 is closer to the laminated plate to be implanted than the outlet of the guide tube 26. The wire feeding base is provided with a wire guiding mechanism for conveying wires to the guide pipe 26 from top to bottom. As shown in fig. 5, the cutting device comprises a pneumatic scissors 30, and the pneumatic scissors 30 are detachably connected to the hole making base or the wire feeding base; the cutting position of the pneumatic scissors 30 is positioned at the outlet of the guide pipe 26, and the pneumatic scissors 30 are used for cutting Z-pin silk materials.
The hole making base or the wire feeding base is used for being connected to a mechanical arm and used for controlling the hole making needle 13 to make holes along the normal direction of the surface of the curved-surface laminated board through the lifting and the rotation of the mechanical arm, and meanwhile, the guide pipe 26 moves downwards along with the hole making needle 13 synchronously to enable the cut Z-pin wire to enter the hole made by the hole making needle at the last time; the hole making depth is equal to the height difference between the tip of the hole making needle 13 and the cutting position of the pneumatic scissors 30; the lifting distance of the hole forming base or the wire feeding base following the action of the mechanical arm is equal to the vertical distance from the cutting position of the pneumatic scissors 30 to the surface of the curved laminated board, so that the pneumatic scissors 30 can cut at the position of the surface of the laminated board. Contrast non-surface is tailor, cuts out in layer lamination board surface position department and to have made the hole after, and the pin silk of cutting out according to the hole depth is passed through the pipe and is relied on gravity to get into downtheholely, owing to plant pin generally is the resin base material, possesses the mobility, and downthehole probably takes place to warp, and pin silk gravity is lighter, can't cut straightly the bottom, forms the outcrop on the material surface. The surface is tailor and is relied on the arm directly to send the silk material into the downthehole bottom of making, and later the surface is tailor, does not have nearly and shows the head phenomenon.
In some embodiments, the perforation needles 13 are connected to the perforation base by a height adjustment mechanism for adjusting the spacing between the tips of the perforation needles 13 relative to the outlet of the conduit 26 to adjust the perforation depth. The lifting of the hole making device can meet the requirements of different hole making depths and is suitable for laminated plates with different thicknesses.
In some embodiments, the height adjusting mechanism comprises a first servo motor 1, the first servo motor 1 is connected with a screw rod 5, a flange 9 is sleeved on the screw rod 5, the flange 9 is fixedly connected with a connecting frame 10, the bottom of the connecting frame 10 is connected with the hole making needle 13, and the flange 9 is further mounted on a slide block guide rail mechanism; the first servo motor 1 is used for driving the flange plate 9 to reciprocate on the slider guide rail mechanism along the screw rod 5 through the work of the first servo motor, so that the connecting frame 10 and the hole making needles 13 are lifted relative to the screw rod 5, and the height positions of the hole making needles 13 are adjusted. The connecting frame 10 may be provided in a Z-shape.
In some embodiments, the wire introducing mechanism comprises a driving roller 19 and a driven roller 20 disposed on both sides of the guide tube 26, the driving roller 19 is connected to the second servo motor 16 through a gear 18; the tube 26 between the driver and driven rollers 19, 20 is broken so that both the driver and driven rollers 19, 20 are in contact with the Z-pin wire to frictionally move the Z-pin wire through the tube 26.
In some embodiments, two driving rollers 19 and two driven rollers 20 are disposed along the axial direction of the guide tube 26, two gears 18 are coaxially connected to the two driving rollers 19, respectively, and one gear 18 connected to the second servo motor 16 is disposed between the two gears 18. Two groups of driving rollers and driven rollers are arranged, the transmission effect is good, and the Z-pin wire cannot slip.
In some embodiments, a compression spring 23 is disposed between each driven roller 20 and the wire feed base.
In some embodiments, the robotic arm end effector assembly for automated implantation of Z-pin with curved surfaces further comprises a six-degree-of-freedom robotic arm coupled to the drilling base or the wire feed base. The whole device is small in size and convenient to operate, is used as an end effector to be installed on a mechanical arm with six degrees of freedom, and is suitable for Z-pin normal implantation of a complex curved surface component.
Example 1
As shown in fig. 1 and 2, the hole making device comprises a first servo motor 1, a coupler 2, a needle fixing frame 3, two screw rod fixing ends 4, a screw rod 5, a guide rail 6, a slide block 7, a flange fixing frame 8, a flange plate 9, a connecting frame 10, a hole making needle fixing frame 11, a hole making needle pressing sleeve, a hole making needle 13 and a bottom plate connecting frame 14; wherein the first servo motor 1 is arranged at the top end of the needle fixing frame 3, the screw rod 5 is connected with the first servo motor 1 through the coupling 2, passes through the needle fixing frame 3 and is arranged on the needle fixing frame 3 through the screw rod fixing end 4; the guide rail 6 is arranged on the left side of the needle fixing frame 3, the sliding block 7 is arranged on the guide rail 6, the flange fixing frame 8 is arranged on the sliding block 7, the flange plate 9 penetrates through the screw rod 5 to be arranged on the flange fixing frame 8, and the inner ring of the flange plate 9 is provided with threads; the left end of a Z-shaped connecting and fixing frame 10 penetrates through a screw rod 5 and is installed at the lower end of a flange fixing frame 8, a hole making needle fixing frame 11 is installed at the lower end of the right side, a hole making needle 13 is installed in a needle groove of the needle fixing frame 11 and is tightly pressed through a hole making needle pressing sleeve 12, and the integral hole making device is installed on the left side of a device bottom plate 15 through a bottom plate connecting frame 14;
as shown in fig. 3 and 4, the wire feeding device comprises a second servo motor 16, a flange coupler 17, three sets of gears 18, two driving rollers 19, two driven rollers 20, a driving roller bearing frame 21, four driven roller bearing frames 22, two compression springs 23, two driven roller bearing frame fixing frames 24, three sets of guide pipe fixing frames 25, three sections of guide pipes 26, a driven roller bearing frame baffle 27 and six bearings 28; wherein, the driving roller bearing frame 21 is arranged at the right side of the device bottom plate 15, and the second servo motor 16 is arranged in the middle of the right side of the driving roller bearing frame 21; three groups of gears 18 are vertically arranged and mutually meshed, wherein the middle gear 18 is connected with a second servo motor 16 through a flange coupler 17, and two driving rollers 19 are respectively arranged on the right sides of the upper gear 18 and the lower gear 18 and are arranged on a driving roller bearing frame 21 through bearings 28; the driven roller bearing frame 22 is arranged in a preset vacant position of the device bottom plate and is fixed by a driven roller bearing frame fixing frame 24; two driven rollers 20 are parallel corresponding to the driving roller 19, and two ends of each driven roller 20 are arranged on the driven roller bearing frames 22 at two sides through bearings 28; the driven roller bearing frame baffle 27 is arranged at the end part of the preset vacancy of the device bottom plate 15; three groups of guide pipes 26 are arranged in the middle vacant position of the device bottom plate 15 through a guide pipe fixing frame 25, and the middle guide pipe 26 is arranged in the gap between the two groups of driving rollers 19 and the driven rollers 20; the top of the driven roller bearing frame fixing frame 24 is of a cylindrical structure, and the pressing spring 23 is arranged on the cylindrical structure of the driven roller bearing frame fixing frame 24 and is pressed through the driven roller bearing frame baffle 27;
as shown in fig. 6 and 7, the upper end and the lower end of the driven roller bearing frame 22 are provided with slots corresponding to the protrusions of the preset vacant positions of the device bottom plate 15, so that the installation is realized and the horizontal movement can be carried out;
as shown in fig. 8, the catheter holder 25 has a catheter groove therein, and the catheter 26 which is adapted to different sizes of Z-pin wires can be fixedly clamped by the tightness of the catheter holder 25.
As shown in fig. 5, the cutting device comprises a fixed frame 29, a pneumatic scissors 30; wherein the pneumatic scissors 30 are arranged at the lower part of the right side of the device bottom plate 15 at an angle of 45 degrees through a fixed frame 29.
The second servo motor 16 drives the gear 18 group to rotate so as to drive the driving roller 20 to rotate, the driven roller 20 and the driving roller 19 are pressed through a pressing spring 23 according to the fiber diameter, so that the Z-pin wire is clamped, the Z-pin wire is moved to the bottom guide tube 26 from the top guide tube 26 through the middle guide tube 26, the head end of the Z-pin wire is required to be flush with the bottom of the hole making needle 13, the wire rod 5 is driven to rotate through the first servo motor 1 according to the lamination thickness of the laminated plate, the flange plate 9 which is arranged on the sliding block 7 through the flange fixing frame 8 and penetrates through the wire rod 5 is driven to move up and down on the guide rail 6, the hole making needle 13 is driven to move up and down through the connecting frame 10 so as to determine the hole making depth, the first servo motor 1 is stopped, and the adjustment is completed; in the working process, the mechanical arm driving device moves to a corresponding hole making and Z-pin implanting area, descends along the Z direction to realize hole making and then returns along the original path to complete the preparation of a prefabricated hole, moves 3mm along the Y direction to the next hole position and descends along the Z direction, meanwhile, the second servo motor 16 drives the gear 18 group to rotate according to a pre-programmed action program, so as to drive the driving roller 20 to rotate, the two groups of driving and driven rollers drive the fiber Z-pin wire to move downwards along the guide pipe 26 for implantation depth, the second servo motor 16 is interrupted, the pneumatic scissors 30 cut the Z-pin wire on the surface of the laminated plate to realize Z-pin implanting, the implantation of one row of Z-pins is realized in such a way, the mechanical arm driving device moves along the X direction to the next row of vacant positions, and the process is circulated, so that the Z-pin implanting work of the area is realized.
The invention also provides a working method of the mechanical arm end effector device for the Z-pin automatic implantation of the curved surface, which comprises the following steps:
firstly, adjusting the height difference between the cutting positions of the hole making needle 13 and the pneumatic scissors 30 to be equal to a preset implantation depth, and fixing the positions of the hole making needle 13 and the pneumatic scissors 30; setting the lifting distance of the hole making base or the wire feeding base following the action of the mechanical arm to be equal to the vertical distance from the cutting position of the pneumatic scissors 30 to the surface of the curved-surface laminated board;
secondly, normally drilling holes at a first position on the surface of the curved surface laminated plate;
and moving to a second position on the surface of the curved laminate to continue normal hole making, wherein the pneumatic scissors 30 cut the Z-pin wire at the outlet of the guide pipe 26 while making the hole, and implanting the cut Z-pin wire into the hole made at the first position.
The implantation of the Z-pin wire array on the surface of the laminated plate can be realized by cycling the method.
Example 2
A complex curved surface member 31 shown in FIG. 9 was obtained by laying T800 carbon fiber/Epoxy prepreg in the order of [0/45/0/-45]6s, and the implantation thicknesses were 5mm,10mm, and 10mm, respectively. Taking the Z-pin as a polyimide fiber Z-pin with the diameter of 0.5mm, wherein the implantation density of all the Z-pins is 3mm multiplied by 3mm.
The complex curved surface member has a complex shape, the thickness of the complex curved surface member changes, and the complex curved surface member can be divided into sections according to the thickness of each section. And for the area with large average thickness, the pin is deeply planted in the large hole, and the pin is deeply planted in the small hole. Therefore, the complicated curved surface member 31 is divided into a first implanted region, a second implanted region and a third implanted region according to the thickness of the region to be implanted with the polyimide fiber Z-pin. The device is assembled and connected with an IRB2600 type mechanical arm through a bolt hole in an assembly bottom plate 15.
After the assembly work is completed, the wound polyimide fiber Z-pin wire material is manually guided to enter the guide pipe 26, the second servo motor 16 is started to drive the gear 18 group to rotate, so that the driving roller 20 is driven to rotate, the driven roller bearing frame fixing frame 24 is pulled according to the fiber diameter of 0.5mm, the driven roller 20 and the driving roller 19 are pressed through the pressing spring 23, the polyimide fiber Z-pin wire material is clamped, the Z-pin wire material is made to move from the top end guide pipe 26 to the bottom end guide pipe 26 through the middle guide pipe 26, and the head end of the polyimide fiber Z-pin wire material is required to be flush with the bottom of the hole making needle 13. According to the condition that the thickness of a first implantation area of the complex curved surface component 31 is 5mm, a first servo motor 1 is started to drive a screw rod 5 to rotate, so that a flange fixing frame 8 is arranged on a sliding block 7 and penetrates through a flange plate 9 of the screw rod 5 to move up and down on a guide rail 6, a connecting frame 10 drives a hole making needle 13 to move up and down, the hole making depth is determined to be 5mm, and the first servo motor 1 is stopped until the adjustment is finished;
in the working process, the IRB2600 type mechanical arm drives the hole making needle 13 to orthogonally and vertically penetrate into the complex curved surface member 31 along the normal direction of the implantation point of the first implantation area of the complex curved surface member 31 according to a preset program and an implantation path, and then returns along the original path, so as to complete the preparation of the prefabricated hole. The IRB2600 mechanical arm advances 3mm along the implantation path, and repeats the above operations to prepare the next prefabricated hole; meanwhile, the second servo motor 16 drives the gear 18 group to rotate according to a pre-programmed action program, so as to drive the driving roller 20 to rotate, after the two groups of driving and driven rollers drive the polyimide fiber Z-pin wire material to move downwards for 5mm along the guide pipe 26, the second servo motor 16 is interrupted, the pneumatic scissors 30 cut the polyimide fiber Z-pin wire material on the surface of the complex curved surface member 31, the polyimide fiber Z-pin wire material with the length of 5mm is obtained and is implanted into the prepared prefabricated hole, and the polyimide fiber Z-pin port implanted into the prefabricated hole is required to be flush with the surface of the first implantation area of the complex curved surface member 31, namely the polyimide fiber Z-pin does not expose. And the equipment completes the implantation of the polyimide fiber Z-pin, and the implantation of the polyimide fiber Z-pin of the next prefabricated hole is realized by repeating the actions until the work of the first implantation area is completed. And circulating the operations to realize the Z-pin implantation work of the second implantation area and the third implantation area.
The manipulator arm end effector device for the Z-pin automatic implantation of the curved surface realizes the automatic implantation of the Z-pin and improves the production efficiency; the process of simultaneously drilling and planting the pin is adopted, so that the Z-pin planting efficiency is improved; two groups of driving mechanisms of the main roller and the auxiliary roller are adopted, the driving effect is good, and the Z-pin wire cannot slip; the lifting of the hole making device can meet the requirements of different hole making depths and is suitable for laminated plates with different thicknesses; the whole device is small in size and convenient to operate, is used as an end effector to be arranged on a mechanical arm with six degrees of freedom, and is suitable for Z-pin normal implantation of a complex curved surface component; the pneumatic scissors cut the pin wires on the surface of the laminated plate, so that the cutting effect is good; the depth of the manufactured hole is adjustable, and the method is suitable for implanting pins of components with complex curved surfaces in different depths.
Claims (5)
1. A robotic arm end effector device for automated Z-pin implantation of curved surfaces, comprising:
a hole making device, which comprises a hole making base and a hole making needle (13) arranged below the hole making base;
a wire feeder including a wire feed base and a conduit (26) mounted thereon, the wire feed base being removably coupled to the drilling base; the conduit (26) is used for allowing Z-pin wire to pass through, the conduit (26) is parallel and spaced beside the hole forming needle (13), a height difference is formed between the outlet of the conduit (26) and the tip of the hole forming needle (13), and the hole forming needle (13) is closer to a laminated plate to be implanted than the conduit (10); the wire feeding base is provided with a wire guiding mechanism for conveying wires to the guide pipe (26) from top to bottom; the wire leading-in mechanism comprises a driving roller (19) and a driven roller (20) which are arranged on two sides of the guide pipe (26), and the driving roller (19) is connected with a second servo motor (16) through a gear (18); the tube body of the guide tube (26) between the driving roller (19) and the driven roller (20) is disconnected, so that the driving roller (19) and the driven roller (20) are both contacted with the Z-pin wire to drive the Z-pin wire to travel in the guide tube (26) through friction force;
wherein the hole making needle (13) is connected to the hole making base through a height adjusting mechanism, and the height adjusting mechanism is used for adjusting the distance between the tip of the hole making needle (13) relative to the outlet of the conduit (26) so as to adjust the hole making depth; the height adjusting mechanism comprises a first servo motor (1), the first servo motor (1) is connected with a screw rod (5), a flange plate (9) is sleeved on the screw rod (5), the flange plate (9) is fixedly connected with a connecting frame (10), the bottom of the connecting frame (10) is connected with the hole making needle (13), and the flange plate (9) is further installed on a sliding block guide rail mechanism; the first servo motor (1) is used for driving the flange plate (9) to reciprocate on the slide block guide rail mechanism along the screw rod (5) through the operation of the first servo motor, so that the connecting frame (10) and the hole making needles (13) can lift relative to the screw rod (5), and the height positions of the hole making needles (13) can be adjusted;
the cutting device comprises pneumatic scissors (30), and the pneumatic scissors (30) are detachably connected to the hole making base or the wire feeding base; the cutting position of the pneumatic scissors (30) is positioned at the outlet of the guide pipe (26), and the pneumatic scissors (30) are used for cutting Z-pin silk materials;
the hole making base or the wire feeding base is connected to a mechanical arm and used for controlling a hole making needle (13) to make holes along the normal direction of the surface of the curved laminated board through the lifting and the rotation of the mechanical arm, and meanwhile, the guide pipe (26) moves downwards along with the hole making needle (13) synchronously to enable the cut Z-pin wire to enter the hole made by the hole making needle (1) at the last time; the hole making depth is equal to the height difference between the tip of the hole making needle (13) and the cutting position of the pneumatic scissors (30).
2. A robotic end effector device for the automated implantation of Z-pins of curved surfaces according to claim 1, characterized in that along the axial direction of said catheter (26) there are provided two said driving rollers (19) and two driven rollers (20), in that two gears (18) are coaxially connected to each of said two driving rollers (19), and in that between the two gears (18) there is further provided a gear (18) connected to said second servomotor (16).
3. A robotic arm end effector assembly for the automated implantation of Z-pins of curved surfaces according to claim 1 or 2, characterized in that a compression spring (23) is provided between each driven roller (20) and the wire feed base.
4. A robotic end effector assembly for automated implantation of Z-pins into curved surfaces according to claim 1 or 2, comprising a six degree of freedom robotic arm connectively disposed on said drilling base or said wire feed base.
5. A working method of a mechanical arm end effector device for Z-pin automatic implantation of curved surfaces, which is characterized in that the mechanical arm end effector device for Z-pin automatic implantation of curved surfaces based on any one of claims 1-4 comprises the following contents:
adjusting the height difference between the cutting positions of the hole making needle (13) and the pneumatic scissors (30) to be equal to a preset implantation depth, and fixing the positions of the hole making needle (13) and the pneumatic scissors (30); setting the lifting distance of the hole making base or the wire feeding base following the action of the mechanical arm to be equal to the vertical distance from the cutting position of the pneumatic scissors (30) to the surface of the curved-surface laminated plate;
normally drilling holes at a first position on the surface of the curved laminated plate;
and moving to a second position on the surface of the curved laminate to continue normal hole forming, and cutting the Z-pin wire at the outlet of the guide pipe (26) by the pneumatic scissors (30) while forming the hole, and implanting the cut Z-pin wire into the hole formed at the first position.
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102431179A (en) * | 2011-09-05 | 2012-05-02 | 南京航空航天大学 | Apparatus and method for transitional implantation of Z-pin |
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| JPH1158160A (en) * | 1997-08-26 | 1999-03-02 | Brother Ind Ltd | Cramp device |
| JP2000025508A (en) * | 1998-07-15 | 2000-01-25 | Ikeda Bussan Co Ltd | Floor carpet for vehicle |
| US7409757B2 (en) * | 2005-06-22 | 2008-08-12 | Northrop Grumman Corporation | Automated Z-pin insertion technique using universal insertion parameters |
| CN106738967B (en) * | 2016-10-31 | 2019-04-30 | 山东大学 | The pre- implanter of desktop type z-pin |
| CN110027304B (en) * | 2019-05-04 | 2020-09-08 | 陕西道博复合材料有限公司 | Z-pin continuous implantation device and method for composite material laminated plate |
| CN111583309B (en) * | 2020-04-14 | 2023-02-28 | 西北工业大学 | Method for realizing Z-pin implantation on complex curved surface |
| CN112406138A (en) * | 2020-09-24 | 2021-02-26 | 西北工业大学 | Method for reducing in-plane damage of Z-pin reinforced composite material laminated plate |
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| CN102431179A (en) * | 2011-09-05 | 2012-05-02 | 南京航空航天大学 | Apparatus and method for transitional implantation of Z-pin |
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